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While building tf map for gmapping, how to set tf tree?

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While building tf map for gmapping, how to set tf tree? Following document, http://wiki.ros.org/gmapping ---------------------------------------------------- Subscribed Topics tf (tf/tfMessage)Transforms necessary to relate frames for laser, base, and odometry (see below) scan (sensor_msgs/LaserScan)Laser scans to create the map from ---------------------------------------------------- I understood like as follow. > subscribe topie as tf made it from laser , base, odom topic,  and publish map topic. > to transform tf using [ laser , base, odom ] And in the document say like below to for making tf tree ---------------------------------------------------- Required tf Transforms → base_linkusually a fixed value, broadcast periodically by a robot_state_publisher, or a tf static_transform_publisher. base_link → odomusually provided by the odometry system (e.g., the driver for the mobile base) Provided tf Transforms map → odomthe current estimate of the robot's pose within the map frame ---------------------------------------------------- Document say, [ map → odom ] [ base_link → odom ] but, the project I run gmapping & built map show the tf tree like below [ map -> odom -> base_footprint -> base_link -> base_scan ] I can not understand what does document saying. As I guess, [ → base_link ] this could be changed as [  base link -> base scan  ] [  odom -> base link ] like that. please understand me. Thankyou.

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